... | ... | @@ -347,7 +347,17 @@ The progam was executed in a darkened room. The goal was for the robot to drive |
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The video shows the robot drive and navigate from the back of the room where the light level is low. The motor turns the light sensor while conducting readings and the robot is successfully able to drive towards the door and exit the room. The video also shows the bumper and ultrasonic sensor at work. When the robot bumps into an object the 'escape' behavior is activated and when the robot hits an unseen object the 'avoid' behavior is used.
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## Exercise 5 - The classes SharedCar and Arbiter
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#### Task:
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Describe how the classes SharedCar and Arbiter implements the arbitration suggested on page 306 in [2]. Compare this with the arbiter of Fred Martin, [4, page 214-218].
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#### Result:
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(http://gitlab.au.dk/uploads/group-22/lego/21a33a9b19/fig_9.9.png)
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## References:
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[2], Jones, Flynn, and Seiger, "Mobile Robots, Inspiration to Implementation", Second Edition, 1999.! |
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[2], Jones, Flynn, and Seiger, "Mobile Robots, Inspiration to Implementation", Second Edition, 1999.!
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[4], Fred G. Martin, Robotic Explorations: A Hands-on Introduction to Engineering, Prentice Hall, 2001.![fig 9.9] |
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